This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Effect of Computational Delay on the Performance of a Hybrid Adaptive Cruise Control System
Technical Paper
2006-01-0800
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper investigates the effect of real-time control system computational delay on the performance of a hybrid adaptive cruise control (ACC) system during braking/coasting scenarios. A hierarchical hybrid ACC system with a finite state machine (FSM) at the high-rank and a nonlinear sliding mode controller (SMC) at the low-rank is designed based on a vehicle dynamics model with a brake-by-wire platform. From simulations, parametric studies are used to evaluate the effect of the bounded random computational delay on the system performance in terms of tracking errors and control effort. The effect of the computational delay location within the control system hierarchy is also evaluated. The system performance generally becomes worse as the upper boundary of the computational delay increases while the effect of the computational delay located at the high-rank controller is more pronounced. In this paper, these results are also contrasted against those found by applying a computational delay compensation technique in the high-rank controller.
Recommended Content
Authors
Citation
Wang, J. and Longoria, R., "Effect of Computational Delay on the Performance of a Hybrid Adaptive Cruise Control System," SAE Technical Paper 2006-01-0800, 2006, https://doi.org/10.4271/2006-01-0800.Also In
SAE 2006 Transactions Journal of Passenger Cars: Electronic and Electrical Systems
Number: V115-7; Published: 2007-03-30
Number: V115-7; Published: 2007-03-30
References
- Shin, K.G. Cui, X. 1995 “Computational Time Delay and Its Effects on Real-Time Control Systems,” IEEE Transactions on Control System Technology 3 2 218 224
- Lee, C.S.G. Lee, B.H. 1984 “Resolved Motion Adaptive Control for Mechanical Manipulators,” Journal of Dynamic Systems, Measurement, and Control 106 2 134 142
- Yang, T.C. 1994 “On Computational Delay in Digital and Adaptive Controllers,” Proceedings of the International Conference on Control 2 906 910
- Long, M.L. Carroll, J.J. Mukundan, R. 1997 “Comments on ‘Computing Time Delay and Its Effects on Real-Time Control Systems’,” IEEE Transactions on Control System Technology 5 3 379
- Nilsson, J. Bernhardsson, B. Wittenmark, B. 1998 “Stochastic Analysis and Control of Real-time Systems with Random Time Delays,” Automatica 34 1 57 64
- Anderson, J.N. Reed, B. L. 1990 “The Effects of Computational Delay on the Model-Based Control of Manipulators,” Proceedings of IEEE Southeastcon 103 107
- Ovaska, S. J. Vainio, O. 1997 “Predictive Compensation of Time-Varying Computing Delay on Real-Time Control Systems,” IEEE Transactions on Control System Technology 5 5 523 526
- Rattan, K.S. 1989 “Compensating for Computational Delay in Digital Equivalent of Continuous Control Systems,” IEEE Transactions on Automatic Control 34 8 895 899
- Mita, T. 1985 “Optimal Digital Feedback Control Systems Counting Computation Time of Control Laws,” IEEE Transactions on Automatic Control 30 6 542 548
- Savkin, A. Evans, R. 2002 “Hybrid Dynamical Systems: Controller and Sensor Switching Problems,” Birkhauser
- Wang, J. Rajamani, R. 2004 “Should Adaptive Cruise Control Systems be Designed to Maintain a Constant Time-Gap between Vehicles?” IEEE Transactions on Vehicular Technology 53 5 1480 1490
- Wang, J. Rajamani, R. 2004 “The Impact of Adaptive Cruise Control (ACC) Systems on Highway Safety and Traffic Flow,” Journal of Automobile Engineering, Proceedings of the Institution of Mechanical Engineers Part D 218 2 111 130
- Wang, J. Rajamani, R. 2002 “Adaptive Cruise Control System Design and Its Impact on Traffic Flow,” Proceedings of American Control Conference 3690 3695
- Johansen, T.A. Petersen, I. Kalkkuhl, J. Ludemann, J. 2003 “Gain-Scheduled Wheel Slip Control in Automotive Brake Systems,” IEEE Transactions on Control System Technology 11 6 799 811
- Godbole, D.N. Lygeros, J. Sastry, S. 1994 “Hierarchical Hybrid Control: an IVHS Case Study,” Proceedings of the 33 rd IEEE Conference on Decision and Control 2 1592 1597
- Choi, H.C. Hong, S.K. 2002 “Hybrid Control for Longitudinal Speed and Traction of Vehicles,” Proceedings of the 28 th IEEE Conference 2 1675 1680
- Godbole, D. Kourjanskaia, N. Sengupta, R. Zandonadi, M. 1998 “Methodology for an Adaptive Cruise Control Study Using the SHIFT/Smart-AHS Framework,” Proceedings of IEEE International Conference on Systems, Man and Cybernetics 4 3217 3222
- “Vehicle Dynamics Terminology,” SAE J670e Society of Automotive Engineers
- Anwar, S. 2003 “Brake-Based Vehicle Traction Control via Generalized Predictive Algorithm,” SAE Paper 2003-01-0323
- Oh, B. Hwang, W. Song, B. 2000 “Simulator for Forward Collision Warning and Avoidance System,” Proceedings of FISITA World Automotive Congress 1 6
- Pasterkamp, W.R. Pacejka, H.B. 1997 “The Tyre as a Sensor to Estimate Friction,” Vehicle System Dynamics 27 409 422
- Gustaffson, F. 1997 “Slip-Based Tire-Road Friction Estimation,” Automatica 33 6 1087 1099
- Wang, J. Alexander, L. Rajamani, R. 2004 “Friction Estimation on Highway Vehicles Using Longitudinal Measurements,” Journal of Dynamic Systems, Measurement, and Control 126 265 275
- Furuta, K. 1990 “Sliding Mode Control of Discrete System,” System & Control Letters 14 145 152
- Spurgeon, S. K. 1991 “Sliding Mode Control Design for Uncertain Discrete-Time Systems,” Proceedings of 30 th IEEE Conference on Decision and Control 2136 2141
- Sira-Ramirez, S. 1991 “Non-linear Discrete Variable Structure Systems in Quasi-Sliding Mode,” International Journal of Control 54 1171 1187
- Sarpturk, S.Z. Istefanopulos, Y. Kaynak, O. 1987 “On the Stability of Discrete-Time Sliding Mode Control Systems,” IEEE Transactions on Automatic Control 32 10 930 932
- Young, K. D. Ozguner, U. 1999 “Sliding Mode: Control Engineering in Practice,” Proceedings of the American Control Conference 150 162
- Luck, R. Ray, A. 1990 “An Observer-based Compensator for Distributed Delays,” Automatica 26 5 903 908